Kollmorgen AKD

Index Sub-
index
DataType Float
Scal-
ing
Acces-
s
PDO
map-
p.
Description ASCII object
352Ah 0 INT32 RW no Direction of movements DRV.DIR
3533h 0 U32 RO no Resolution of motor encoder FB1.ENCRES
3534h 0 U32 RO no Mode of EEO connector DRV.EMUEMODE
3535h 0 U32 RO no Resolution of EEO DRV.EMUERES
3537h 0 U32 RO no Location of EEO index pulse DRV.EMUEZOFFSET
353Bh 0 INT32 RO no Selection of the feedback type FB1.SELECT
3542h 0 U32 1000:1 RW no Position Control Loop: Pro-
portional Gain
PL.KP
3548h 0 U32 1000:1 RW no Velocity Control Loop: Pro-
portional Gain
VL.KP
354Bh 0 INT32 1000:1 RW no Sets the velocity loop velocity
feedforward gain value
VL.KVFF
354Dh 0 INT32 1000:1 RW no Velocity Control Loop: I-Inte-
gration Time
VL.KI
3558h 0 INT32 1000:1 RO no Current Monitor IL.FB
3559h 0 INT32 1000:1 RO no Drive Ifold IL.DIFOLD
355Ah 0 INT32 1000:1 RW no I2T Warning IL.FOLDWTHRESH
3562h 0 INT32 RW no Function of Digital Input 1 DIN1.MODE
3565h 0 INT32 RW no Function of Digital Input 2 DIN2.MODE
3568h 0 INT32 RW no Function of Digital Input 3 DIN3.MODE
356Bh 0 INT32 RW no Function of Digital Input 4 DIN4.MODE
356Eh 0 INT32 1000:1 RW no Application Peak Current, pos-
itive direction
IL.LIMITP
356Fh 0 INT32 1000:1 RW no Application Peak Current, neg-
ative direction
IL.LIMITN
3586h 0 U32 RW no Sets the motor temperature fault
level
MOTOR.TEMPFAULT
3587h 0 INT32 RW no Select Motor Holding Brake MOTOR.BRAKE
358Eh 0 U32 1000:1 RW no Motor Continuous Current Rating MOTOR.ICONT
358Fh 0 U32 1000:1 RW no Motor Peak Current Rating MOTOR.IPEAK
3593h 0 U32 1000:1 RW no Sets the torque constant of the
motor
MOTOR.KT
3596h 0 U32 1000:1 RO no Sets the proportional gain of the
d-component current PI-regulator
as a percentage of IL.KP
IL.KPDRATIO
3598h 0 INT32 1000:1 RW no Absolute Gain of Current Control
loop
IL.KP
359Ch 0 U32 RW no Sets the motor phase. MOTOR.PHASE
359Dh 0 U32 RW no Sets the number of motor poles MOTOR.POLES
35A3h 0 U32 RW no Sets the maximum motor speed MOTOR.VMAX
35A4h 0 INT32 1000:1 RW no Maximum motor current IL.MIFOLD
35AB-
h
0 U32 1000:1 RW no Sets the motor inertia MOTOR.INERTIA
35AFh 0 U32 RW no Sets the digital output 1 mode MT.CNTL
35B2h 0 U32 RW no Sets the digital output 2 mode MT.MTNEXT
AKD CANopen | 8 Appendix
Kollmorgen™ | November 2012 129